CPG是一种仿生运动控制方法，根据生物节律性、协调运动的特点（如腿部、脊柱的规律协调摆动）以及背后的运动调控机制（通过解剖学证实，脊椎中存在中枢模式发生器下发运动指令产生 …

Central pattern generators (CPGs) are self-organizing biological neural circuits [1][2] that produce rhythmic outputs in the absence of rhythmic input. [3][4][5] They are the source of the tightly …

2002年1月1日 · Neural networks in the spinal cord, referred to as “central pattern generators” (CPGs), are capable of producing rhythmic movements, such as swimming, walking, and …

4 天之前 · The MLP-CPG-TG network resembles policy modulated trajectory generator (PMTG) in the sense that the handcrafted CPG serves as a trajectory generator, and the separate …

2015年11月1日 · In this paper, one general architecture of CPG network and its implementation on general microcontrollers have been proposed. This CPG network can support transitions in …

2024年4月26日 · We present a model of the central pattern generator (CPG) network that can control gait transitions in hexapod robots in a simple manner based on phase reduction. The …

Compared with traditional control methods, Central Pattern Generator (CPG) network control has been widely used for the motion control of bionic robots because it can significantly reduce the …

2015年8月7日 · In this brief, we investigate the parameter optimization issue of a central pattern generator (CPG) network governed forward and backward swimming for a fully untethered, …

1999年10月14日 · Animal locomotion is controlled, in part, by a central pattern generator (CPG), which is an intraspinal network of neurons capable of generating a rhythmic output 1, 2, 3, 4. …

The library allows you to build a rhythm-generating CPG network and interact with it in a fairly straightforward way. You can add and change connections between nodes, directly set the …